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source: code/archive/map/src/external/bullet/LinearMath/btDefaultMotionState.h @ 9407

Last change on this file since 9407 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 1.2 KB
Line 
1#ifndef DEFAULT_MOTION_STATE_H
2#define DEFAULT_MOTION_STATE_H
3
4///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
5struct  btDefaultMotionState : public btMotionState
6{
7        btTransform m_graphicsWorldTrans;
8        btTransform     m_centerOfMassOffset;
9        btTransform m_startWorldTrans;
10        void*           m_userPointer;
11
12        btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
13                : m_graphicsWorldTrans(startTrans),
14                m_centerOfMassOffset(centerOfMassOffset),
15                m_startWorldTrans(startTrans),
16                m_userPointer(0)
17
18        {
19        }
20
21        ///synchronizes world transform from user to physics
22        virtual void    getWorldTransform(btTransform& centerOfMassWorldTrans ) const 
23        {
24                        centerOfMassWorldTrans =        m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
25        }
26
27        ///synchronizes world transform from physics to user
28        ///Bullet only calls the update of worldtransform for active objects
29        virtual void    setWorldTransform(const btTransform& centerOfMassWorldTrans)
30        {
31                        m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
32        }
33
34       
35
36};
37
38#endif //DEFAULT_MOTION_STATE_H
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